21
English Translation by: Tribotix Pty Ltd
www.tribotix.com
DYNAMIXEL
DX-116
Function
REG_WRITE instruction is similar to the WRITE_DATA instruction, but the
execution timing is different. When the Instruction Packet is received the values
are saved into the Buffer and the Write instruction is under a standby status.
The Registered Instruction register (Address 0x2C) is set to 1. After an Action
Instruction Packet is received the registered Write instruction is executed.
Length
N+3 (The number of Write Data bytes is N)
Instruction
0X04
Parameter1
Start Address for Write Data
Parameter2
1
st
Data to Write
Parameter3
2
nd
Data to Write
Parameter N+1
N
th
Data to Write
ACTION
Function
Execute the WRITE instruction written by REG_WRITE
Length
0X02
Instruction
0X05
Parameter
NONE
The ACTION instruction is useful when multiple Dynamixels needs to move
simultaneously. When controlling multiple units, slight time delays occur
between the 1
st
unit to receive an instruction and the last one. The Dynamixel
approach fixes this problem through the use of the ACTION instruction.
Broadcasting
When sending ACTION instructions to move more than two Dynamixel units, the
Broadcast ID (0XFE) should be utilised.
4-4. PING
Function
Used to request a specific Dynamixel status packet or to check the existence of
a Dynamixel with a particular ID
Length
0X02
Instruction
0X01
Parameter
NONE
